/*
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
package net.javlov.example.cont;

import net.javlov.AbstractPrimitiveAction;
import net.javlov.Action;
import net.javlov.Agent;
import net.javlov.State;

public class ContinuousTurn extends AbstractPrimitiveAction<double[]> {

	private static final long serialVersionUID = 2759546277722766721L;

	protected ContinuousWorld world;
	protected double angle;
	
	public ContinuousTurn(ContinuousWorld w, double a) {
		world = w;
		angle = a;
		if ( a > 0 )
			setName("L"); //left; Java coord system points downward
		else
			setName("R");
	}
	
	@Override
	public void execute(Agent<double[]> a) {
		world.turn(angle);
	}

	@Override
	public Action<double[]> doStep(State<? extends double[]> s, double reward) {
		return this;
	}

	@Override
	public Action<double[]> firstStep(State<? extends double[]> s) {
		return this;
	}

}
